Braking control method, vehicle, storage medium and chip

Abstract

A brake control method, which is applied to a vehicle, and includes: determining abnormal conditions of a primary brake unit and a backup brake unit; determining a vehicle control strategy according to the abnormal condition; controlling rear wheels to be in a free-rolling state in the case that the vehicle control strategy corresponds to a first abnormal condition; and performing, by the primary brake unit, braking according to first wheel speed information collected by a first wheel speed sensor and first axle speed information of a rear axle motor, or according to the first wheel speed information, the first axle speed information and second axle speed information of a front axle motor in response to a braking request.

The invention claimed is: 
     
       1. A brake control method, applied to a vehicle, wherein the vehicle is a four-wheeled vehicle, and comprises a primary brake unit and a backup brake unit, wherein the primary brake unit is connected with a first wheel speed sensor corresponding to at least one front wheel, and the backup brake unit is connected with a second wheel speed sensor corresponding to each wheel, and the method comprises:
 determining an abnormal condition of the primary brake unit and the backup brake unit; 
 determining a vehicle control strategy according to the abnormal condition; 
 controlling rear wheels to be in a free-rolling state in the case that the vehicle control strategy corresponds to a first abnormal condition, wherein the first abnormal condition indicates that the primary brake unit is normal and the backup brake unit is abnormal; 
 acquiring, by the primary brake unit, first wheel speed information collected by the first wheel speed sensor and first axle speed information of a rear axle motor, or acquiring the first wheel speed information, the first axle speed information and second axle speed information of a front axle motor; and 
 performing, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to a braking request. 
 
     
     
       2. The method according to  claim 1 , wherein performing, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to the braking request comprises:
 determining, by the primary brake unit, a reference vehicle speed of the vehicle according to the first axle speed information of the rear axle motor; 
 determining wheel speed information of two front wheels according to the first wheel speed information and the second axle speed information of the front axle motor in the case that the primary brake unit is connected with the first wheel speed sensor corresponding to one front wheel; 
 determining wheel speed information of two front wheels according to the first wheel speed information in the case that the primary brake unit is connected with the first wheel speed sensors respectively corresponding to two front wheels; 
 determining a front wheel slip ratio according to the wheel speed information of two front wheels and the reference vehicle speed of the vehicle; and 
 performing braking according to the front wheel slip ratio. 
 
     
     
       3. The method according to  claim 1 , further comprising:
 acquiring, by the primary brake unit, second wheel speed information collected by the second wheel speed sensors connected with the backup brake unit from a CAN bus in the case that the vehicle control strategy corresponds to a normal condition; and 
 performing, by the primary brake unit, braking according to the second wheel speed information in response to the braking request; wherein 
 the normal condition indicates that the primary brake unit is normal and the backup brake unit is also normal. 
 
     
     
       4. The method according to  claim 1 , further comprising:
 performing braking, by the backup brake unit, according to second wheel speed information collected by the second wheel speed sensors in response to the braking request in the case that the vehicle control strategy corresponds to a second abnormal condition; wherein 
 the second abnormal condition indicates that the primary brake unit is abnormal and the backup brake unit is normal. 
 
     
     
       5. The method according to  claim 1 , wherein the braking request is generated in response to a braking operation by a driver; or, the braking request is generated in response to triggering vehicle dynamic control; or, the braking request is generated in response to triggering vehicle tracking control; or, the braking request is generated in response to triggering anti-lock control; or, the braking request is generated in response to an ADAS request. 
     
     
       6. The method according to  claim 1 , wherein the primary brake unit is an electronic vehicle body stability system, and the backup brake unit is an electrically controlled brake boost system or an intelligent decoupled brake system or a redundant brake unit. 
     
     
       7. A chip, comprising a processor and an interface; wherein the processor is configured to read instructions to perform the method according to  claim 1 . 
     
     
       8. A vehicle, comprising:
 a processor; and 
 a memory, configured to store instructions executable by the processor; wherein 
 the processor is configured to: 
 determine an abnormal condition of a primary brake unit and a backup brake unit, wherein the primary brake unit is connected with a first wheel speed sensor corresponding to at least one front wheel; 
 determine a vehicle control strategy according to the abnormal condition; 
 control rear wheels to be in a free-rolling state in the case that the vehicle control strategy corresponds to a first abnormal condition, wherein the first abnormal condition indicates that the primary brake unit is normal and the backup brake unit is abnormal; 
 acquire, by the primary brake unit, first wheel speed information collected by the first wheel speed sensor and first axle speed information of a rear axle motor, or acquire the first wheel speed information, the first axle speed information and second axle speed information of a front axle motor; and 
 perform, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to a braking request. 
 
     
     
       9. The vehicle according to  claim 8 , wherein perform, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to the braking request comprises:
 determine, by the primary brake unit, a reference vehicle speed of the vehicle according to the first axle speed information of the rear axle motor; 
 determine wheel speed information of two front wheels according to the first wheel speed information and the second axle speed information of the front axle motor in the case that the primary brake unit is connected with the first wheel speed sensor corresponding to one front wheel; 
 determine wheel speed information of two front wheels according to the first wheel speed information in the case that the primary brake unit is connected with the first wheel speed sensors respectively corresponding to two front wheels; 
 determine a front wheel slip ratio according to the wheel speed information of two front wheels and the reference vehicle speed of the vehicle; and 
 perform braking according to the front wheel slip ratio. 
 
     
     
       10. The vehicle according to  claim 8 , the processor is further configured to:
 acquire, by the primary brake unit, second wheel speed information collected by the second wheel speed sensors connected with the backup brake unit from a CAN bus in the case that the vehicle control strategy corresponds to a normal condition; and 
 perform, by the primary brake unit, braking according to the second wheel speed information in response to the braking request; wherein 
 the normal condition indicates that the primary brake unit is normal and the backup brake unit is also normal. 
 
     
     
       11. The vehicle according to  claim 8 , the processor is further configured to:
 perform braking, by the backup brake unit, according to second wheel speed information collected by the second wheel speed sensors in response to the braking request in the case that the vehicle control strategy corresponds to a second abnormal condition; wherein 
 the second abnormal condition indicates that the primary brake unit is abnormal and the backup brake unit is normal. 
 
     
     
       12. The vehicle according to  claim 8 , wherein the braking request is generated in response to a braking operation by a driver; or, the braking request is generated in response to triggering vehicle dynamic control; or, the braking request is generated in response to triggering vehicle tracking control; or, the braking request is generated in response to triggering anti-lock control; or, the braking request is generated in response to an ADAS request. 
     
     
       13. The vehicle according to  claim 8 , wherein the primary brake unit is an electronic vehicle body stability system, and the backup brake unit is an electrically controlled brake boost system or an intelligent decoupled brake system or a redundant brake unit. 
     
     
       14. A non-transitory computer-readable storage medium, storing computer program instructions, wherein the program instructions when executed by a processor cause the processor to execute a method comprising:
 determining an abnormal condition of a primary brake unit and a backup brake unit; 
 determining a vehicle control strategy according to the abnormal condition; 
 controlling rear wheels to be in a free-rolling state in the case that the vehicle control strategy corresponds to a first abnormal condition, wherein the first abnormal condition indicates that the primary brake unit is normal and the backup brake unit is abnormal; 
 acquiring, by the primary brake unit, first wheel speed information collected by the first wheel speed sensor and first axle speed information of a rear axle motor, or acquiring the first wheel speed information, the first axle speed information and second axle speed information of a front axle motor; and 
 performing, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to a braking request. 
 
     
     
       15. The storage medium according to  claim 14 , wherein performing, by the primary brake unit, braking according to the first wheel speed information and the first axle speed information, or according to the first wheel speed information, the first axle speed information and the second axle speed information, in response to the braking request comprises:
 determining, by the primary brake unit, a reference vehicle speed of the vehicle according to the first axle speed information of the rear axle motor; 
 determining wheel speed information of two front wheels according to the first wheel speed information and the second axle speed information of the front axle motor in the case that the primary brake unit is connected with the first wheel speed sensor corresponding to one front wheel; 
 determining wheel speed information of two front wheels according to the first wheel speed information in the case that the primary brake unit is connected with the first wheel speed sensors respectively corresponding to two front wheels; 
 determining a front wheel slip ratio according to the wheel speed information of two front wheels and the reference vehicle speed of the vehicle; and 
 performing braking according to the front wheel slip ratio. 
 
     
     
       16. The storage medium according to  claim 14 , wherein the processor is further configured to:
 acquiring, by the primary brake unit, second wheel speed information collected by the second wheel speed sensors connected with the backup brake unit from a CAN bus in the case that the vehicle control strategy corresponds to a normal condition; and 
 performing, by the primary brake unit, braking according to the second wheel speed information in response to the braking request; wherein 
 the normal condition indicates that the primary brake unit is normal and the backup brake unit is also normal. 
 
     
     
       17. The storage medium according to  claim 14 , wherein the processor is further configured to:
 performing braking, by the backup brake unit, according to second wheel speed information collected by the second wheel speed sensors in response to the braking request in the case that the vehicle control strategy corresponds to a second abnormal condition; wherein 
 the second abnormal condition indicates that the primary brake unit is abnormal and the backup brake unit is normal. 
 
     
     
       18. The storage medium according to  claim 14 , wherein the braking request is generated in response to a braking operation by a driver; or, the braking request is generated in response to triggering vehicle dynamic control; or, the braking request is generated in response to triggering vehicle tracking control; or, the braking request is generated in response to triggering anti-lock control; or, the braking request is generated in response to an ADAS request. 
     
     
       19. The storage medium according to  claim 14 , wherein the primary brake unit is an electronic vehicle body stability system, and the backup brake unit is an electrically controlled brake boost system or an intelligent decoupled brake system or a redundant brake unit.